Offering high performance motion control for demanding electric and hydraulic applications. Rev. -, October Motion Controllers

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1 Motion controllers Offering high performance motion control for demanding electric and hydraulic applications Rev. -, October 2011 Motion Controllers WHAT MOVES YOUR WORLD

2 Introduction Introduction Whenever the highest levels of motion control performance and design flexibility are required, you ll find Moog expertise at work. Through collaboration, creativity and world-class technological solutions, we help you overcome your toughest engineering obstacles. Enhance your machine s performance. And help take your thinking further than you ever thought possible. Introduction...2 Product Overview...3 Features and Benefits...5 Technical data...6 MSC I Motion Controller...6 MSC II Motion Controller...12 Ruggedized Motion Controller...17 MSD Motion Controller...21 Extension Modules for MSC I and MSC II...25 Displays...41 Moog Axis Control Software...46 License Keys...50 Background...51 Application Examples...51 About Moog...55 Ordering Information...57 Ordering Information...57 This catalog is for users with technical knowledge. To ensure all necessary characteristics for function and safety of the system, the user has to check the suitability of the products described herein. The products described in this document are subject to change without notice. In case of doubt, please contact Moog. Moog is a registered trademark of Moog Inc. and its subsidiaries. All trademarks as indicated herein are the property of Moog Inc. and its subsidiaries. For the full disclaimer refer to For the most current information, visit or contact your local Moog office. 2 Rev. -, October 2011

3 Introduction Product Overview Moog offers a variety of freely programmable Motion Controllers, each of them designed with specialized functionality to meet a range of customer requirements. Regardless of your application, we have a Motion Controller that will meet your requirements. MSC I and MSC II Motion Controllers The MSC I and MSC II Motion Controllers are high performance motion controllers with PLC functionality that are ideal for complex centralized and decentralized applications. These Motion Controllers have a IP20 protection built in and are fitted on DIN rails in an electronic cabinet. MSC I Motion Controller The MSC I Motion Controller offers high resolution analog inputs/outputs and position sensor interfaces. It is designed for fast and accurate closed-loop control of two axes. MSC I Motion Controller is best suited for applications where one or two actuators need to be controlled via an analog interface. The MSC II Motion Controller has several fieldbus interfaces and four position transducer interfaces. It is designed for closed-loop control with or without profile generation of multiple electric or hydraulic axes. The comprehensive functions of MSC I and MSC II Motion Controllers can be extended by additional high resolution analog and digital I/O and communication modules. The extension modules are clipped on the side of the Motion Controller and are electronically connected by the internal Extension bus (E-Bus). MSC II Motion Controller To control complex decentralized applications two CAN bus interfaces are included. Ruggedized Motion Controller The Ruggedized Motion Controller (MSC-R) is a freely programmable motion controller designed for harsh environments. It is suitable for use with both electric and hydraulic motion control. Ruggedized Motion Controller The Ruggedized Motion Controller is offered in addition to MSC I and MSC II Motion Controllers to enable high speed control under demanding industrial environmental conditions. The computing power is the same as the MSC II Motion Controller. The Ruggedized Motion Controller can be mounted directly at the machine without the need for an additional electronic cabinet. The innovative combination of ruggedized design with IP67 protection, computing power and fieldbus support makes the Ruggedized Motion Controller an excellent choice for high performance embedded control solutions. Rev. -, October

4 Introduction Product Overview MSD Motion Controller The MSD Motion Controller is part of the Modular Multi- Axis Programmable Motion Control Servo Drive (MSD) System and is best used in combination with Moog Servo Drives. The MSD Motion Controller coordinates and synchronizes axes, and communicates with host computers and other PLCs via multiple fieldbus protocols. With its PLC functionality, the MSD Motion Controller can control processes of the machine. It is designed for closed-loop control of velocity and position for up to 30 axes. The MSD Servo Drives are described in detail in the Modular Multi-Axis Programmable Motion Control Servo Drive catalog. Moog Axis Control Software All can be programmed using Moog Axis Control Software (MACS), the standard development environment based on CoDeSys. MSD Motion Controller The use of only one software development environment simplifies the creation of applications with different Motion Controllers. Libraries with special functions dedicated to a variety of application requirements support the program development. MSC I MSC II MSC-R MSD Ordering number D D D G Integrated interfaces Ethernet EtherCAT master EtherCAT slave USB 1.1 host CAN Profibus-DP slave Position transducer 2 4 Analog I/O Inputs 8 Outputs 2 Digital I/O Sensor interfaces 2 4 Degree of protection IP20 IP20 IP67 IP20 Processor Special features PowerPC Processor, 32 Bit, RISC architecture with floating point unit Multiple extension modules available to be connected via E-Bus or remote CAN bus Designed for harsh environments To be combined with Moog MSD Servo Drives 4 Rev. -, October 2011

5 Introduction Features and Benefits Feature Benefit Short cycle times Higher machine productivity Easy-to-use software and flexible hardware Fast start-up commissioning Support of user-defined open control structures Maximum flexibility Special Moog libraries of pre-programmed function blocks Solve advanced control problems quickly Multiple connectivity options Quick integration Remote servicing and debugging Convenience Rev. -, October

6 MSC I Motion Controller Technical data Overview The MSC I Motion Controller is a freely programmable multi-axis controller suitable for electric and hydraulic motion control. It provides fast and precise control for position, speed and force and features an integrated PLC functionality. The Moog Axis Control Software (MACS) offers a modern and powerful IEC development environment. The hardware functionality can be parameterized via MACS. The MSC I Motion Controller allows freely definable controller structures with cycle times of 400 μs. Interfaces Terminal resistor to LocalCAN WideCAN - transmission activity LocalCAN - transmission activity E-Bus - transmission activity L1+ and +5 V OK State of digital I/Os Outputs active Freely programmable Programming interface (for MACS) Profibus-DP slave (option) Serial port Reset button Ethernet - link puls License key slot Ethernet - activity WideCAN (internally connected 1:1) Ethernet (RJ45 rack) Cable breakage display of analog current outputs Cable breakage display of digital sensor inputs SIO - receipt activity Error display MACS - transmission activity MACS - receipt activity SIO - transmission activity 6 Rev. -, October 2011

7 MSC I Motion Controller Technical data Ordering number D D Integrated interfaces Ethernet 1 1 CAN 2 2 Profibus-DP 1 Position transducer 2 2 Processor Type PowerPC Processor, 32 Bit, RISC architecture with floating point unit Flash EEPROM 4 MB Data maintenance Typically 10 years General technical data Connection technique Plug-in terminal strips for screwing or clamping Mounting NS 35/7.5 mounting rail according to EN (DIN rail) Dimensions W x D x H 160 x 170 x 85.5 mm (6.30 x 6.69 x 3.36 in) Attachment dimensions W = 149/154.5 mm (5.87/6.08 in) Operating temperature range +5 to +55 C (+41 to +131 F) Storage temperature range -25 to +70 C (-13 to 158 F) Maximum mean temperature in operation for +50 C (+122 F) 24 hours Relative air humidity 10 to 95 % (non-condensing) Maximum operation height 2,000 m (6,500 ft) Maximum storage height 3,000 m (9,800 ft) Maximum transport height 3,000 m (9,800 ft) Protection class III Degree of protection IP20 Standards Operating equipment demands and IEC examinations Interference emission EN Interference immunity EN , industrial part Shock resistance IEC Vibration resistance IEC Insulation strength IEC , test voltage 500 V DC Power supply Voltage supply of module electronics 24 V DC (18 to 36 V), SELV according to EN Current consumption of module electronics Idling 0.5 A Full load 2 A Potential separation Separate potentials for: Module electronics 24-V supply Digital inputs/outputs Ethernet Rev. -, October

8 MSC I Motion Controller Ordering number D D Internal voltages Behavior at voltage features/cut-off of supply voltage Interfaces Ethernet CAN Generated via internal DC/DC converters Necessary data is permanently stored. If the supply voltage fails (<18 V), buffer capacitors provide the necessary energy. 10 MBit/s with 8-pole RJ45 connector (10Base-T) Two independent CAN interfaces, transmission rate adjustable from 10 kbit/s to 1 MBit/s: WideCAN: 2 x D-Sub WCAN connectors on the front cover (connected internally 1:1) LocalCAN: For communication with other Motion Controller via the side Q-connectors or with the QEBUS module to further devices Profibus-DP slave 12 MBit/s Serial port 2 x EIA-232: MACS on the front cover for communication with the MACS software on a PC SIO on the front cover for free use in the application program Extension bus (E-Bus) Q-connectors on the right and left side of the module for connecting up to 7 additional modules. Contains a serial bus (5 to 10 MBit/s) and the LocalCAN bus. Digital inputs/outputs Type of digital inputs Type 1 (current consuming) according to IEC Number of digital inputs/outputs 8 Configuration Individually configurable as input or output in the MACS software Voltage supply 24 V DC (18 to 36 V), SELV according to EN Maximum current consumption of single output 0.5 A Protection Sustained short-circuit Yes Thermal overload Yes Overvoltage Up to ±36 V 8 Rev. -, October 2011

9 MSC I Motion Controller Ordering number D D Analog inputs/outputs Voltage supply Via internal DC/DC converter Analog inputs Type Each analog input is configurable in the MACS software as ±10 V, ±10 ma or 4 to 20 ma. Number 8 Resolution Overvoltage protection 16 Bit Up to ±36 V Analog outputs Type Number 2 Voltage output ±10 V. Each analog output is additionally configurable in the MACS software as ±10 ma, ±50 ma or 4 to 20 ma. Resolution 16 Bit Protection Short-circuit Overvoltage Yes Up to ±36 V Reference voltage outputs Reference output voltage Maximum current +10 V DC 5 ma Protection Short-circuit Overvoltage Yes Up to ±36 V Sensor interfaces Number of sensor interfaces 2 Type of signal Wire fault monitoring Configuration Corresponding to EIA-422 Inputs Each sensor configurable as incremental encoder or SSI Incremental encoder interface Maximum pulse frequency Edge evaluation 8 MHz 4-edge evaluation SSI interface SSI sensor master or slave data format Data bits Transmission frequency Gray or binary 8 to 32 Bit 78 khz to 5 MHz Diagnostics Watchdog output: Outputs enabled signal Analog and digital outputs in operation. In the event of a fault, the watchdog output goes to a high impedance state. Rev. -, October

10 MSC I Motion Controller Circuit diagrams - inputs/outputs Digital input Digital output Signal source MSC I MSC I L 2+ L V DC 24 V DC I/O x Opto- Decoupling To evaluation I/O x, Out EN R L M 2 M 2 Analog input Analog output MSC I MSC I A ix+ C xa C xb D A ±10 V A oxa Voltage R L Voltage A ix- A GND Filter MUX A D ±10 ma A GND A oxb Current A ix+ 4 to 20 ma A GND R L C xa C xb ±50 ma Current A ix- Filter A GND Output Current Monitoring 10 Rev. -, October 2011

11 MSC I Motion Controller Circuit diagrams - sensor interfaces Incremental encoder MSC I A x+ A x Signal A Incremental Encoder Mode B x+ B x Z x+ Z x Signal B Signal Z Incremental Encoder D GND DGND SSI master SSI slave MSC I Data Signal SSI Master Mode A x+ A x CLK x+ Data Signal SSI Cycle (CLK) SSI Sensor SSI Master Mode D GND SSI Cycle (CLK) D GND SSI Sensor D GND CLK x D GND MSC I A x+ A x B x+ B x SSI Slave Mode DGND Dimensional drawing [mm (in)] 102 (4.02) 160 (6.30) 85.5 (3.36) 149 (5.87) 5.5 (0.22) 170 (6.69) Rev. -, October

12 MSC II Motion Controller Overview The MSC II Motion Controller is a freely programmable multi-axis motion controller that facilitates rapid and precise control of process variables such as position, speed, and force. It is suitable for use with both electric and hydraulic motion control. Compared to the MSC I Motion Controller, the MSC II Motion Controller offers higher computation power, shorter cycle times and additional fieldbus options, such as EtherCAT. The MSC II Motion Controller does not include analog inputs and outputs. The analog extension modules QAIO 16/4 or QAIO 2/2 are recommended for applications where analog inputs and outputs are required. Interfaces State of digital I/Os Termination Resistor at LocalCAN WideCAN - transmission activity LocalCAN - transmission activity E-Bus - transmission activity SIO - receiver activity SIO - transmission activity Activated by application program Outputs enabled L1+ and +5 V OK WideCAN X1 + X3 (internally connected 1:1) WideCAN X1 + X3 (internally connected 1:1) Run/Stop/Reset switch License key slot USB interface RJ45 10/100 MBit/s LAN and programming interface RJ45 10/100 MBit/s realtime ethernet interface (option) Serial interface SIO Wire fault display for digital sensor inputs Activated by application program or error display Fieldbus interface (option) 12 Rev. -, October 2011

13 MSC II Motion Controller Technical data Ordering number D D D D Integrated interfaces Ethernet USB EtherCAT master 2 1 EtherCAT slave 1 Profibus-DP slave 1 Position transducer Processor Type PowerPC Processor, 32 Bit, RISC architecture with floating point unit RAM 128 MB Flash EEPROM 32 MB Data maintenance Typically 10 years General technical data Connection technique Plug-in terminal strips for screwing or clamping Mounting NS 35/7.5 mounting rail according to EN (DIN rail) Dimensions W x D x H 124 x 170 x 85.5 mm (4.88 x 6.69 x 3.36 in) Attachment Dimensions W = 113/118.5 mm (4.45/4.66 in) Operating temperature range +5 to +55 C (+41 to +131 F) Storage temperature range -25 to +70 C (-13 to 158 F) Maximum mean temperature in +50 C (+122 F) operation for 24 hours Relative air humidity 10 to 95 % (non-condensing) Maximum operation height 2,000 m (6,500 ft) Maxmimum storage height 3,000 m (9,800 ft) Maximum transport height 3,000 m (9,800 ft) Protection class III Degree of protection IP20 Standards Operating equipment demands and IEC examinations Interference emission EN Interference immunity EN , industrial part Shock resistance IEC Vibration resistance IEC Insulation strength IEC , test voltage 500 V DC Rev. -, October

14 MSC II Motion Controller Ordering number D D D D Power supply Voltage supply of module electronics 24 V DC (18 to 36 V), SELV according to EN Current consumption of module electronics Idling 0.3 A Full load 0.8 A Potential separation Separate potentials for: Module electronics 24-V supply Digital inputs/outputs Ethernet Internal voltages Generated via internal DC/DC converters Behavior at voltage features/cut-off of supply voltage Interfaces Ethernet Necessary data is permanently stored. If the supply voltage fails (<18 V), buffer capacitors provide the necessary energy. 10/100 MBit/s with 8-pole RJ45 connector (100Base-T) CAN Two independent CAN interfaces, transmission rate adjustable from 10 kbit/s to 1 MBit/s: WideCAN: 2 x D-Sub WCAN connectors on the front cover (connected internally 1:1) LocalCAN: For communication with other Motion Controller via the side Q-connectors or with the QEBUS module to further devices EtherCAT master 100 MBit/s 100 MBit/s EtherCAT slave 100 MBit/s Profibus-DP slave 12 MBit/s USB USB 1.1 host, USB-A connectors E-Bus Q-connectors on the right and left side of the module for connecting up to 7 additional modules. Contains a serial bus (5 to 10 MBit/s) and the LocalCAN bus. Digital inputs/outputs Type of digital inputs Type 1 (current consuming) according to IEC Number of digital inputs/outputs 4 Configuration Individually configurable as input or output in the MACS software Voltage supply 24 V DC (18 to 36 V), SELV according to EN Maximum current consumption of single 0.5 A output Protection Sustained short-circuit Yes Thermal overload Yes 14 Rev. -, October 2011

15 MSC II Motion Controller Ordering number D D D D Sensor interfaces Number of sensor interfaces 4 Type of signal Corresponding to EIA-422 with protection against 24 V Wire fault monitoring Inputs Configuration Each sensor configurable as incremental encoder or SSI Incremental encoder interface Maximum pulse frequency 8 MHz Edge evaluation 4-edge evaluation SSI interface SSI sensor master or slave data format Gray or binary Data bits 8 to 32 Bit Transmission frequency 78 khz to 5 MHz Diagnostics Watchdog output: Outputs enabled signal Digital outputs in operation. In the event of a fault, the watchdog output switches to a high impedance state. Circuit diagrams - inputs/outputs Digital input Digital output Signal source MSC II MSC II L 2+ L V DC 24 V DC I/O x Opto- Decoupling To evaluation I/O x, Out EN R L M 2 M 2 Rev. -, October

16 MSC II Motion Controller Circuit diagrams - sensor interfaces Incremental encoder MSC II A x+ A x Signal A Incremental Encoder Mode B x+ B x Z x+ Z x Signal B Signal Z Incremental Encoder D GND DGND SSI master SSI slave MSC II Data Signal SSI Master Mode A x+ A x CLK x+ Data Signal SSI Cycle (CLK) SSI Transmitter SSI Master Mode D GND SSI Cycle (CLK) D GND SSI Transmitter D GND CLK x D GND MSC II A x+ A x B x+ B x SSI Slave Mode DGND Dimensional drawing [mm (in)] 124 (4.88) 113 (4.45) 85.5 (3.36) 5.5 (0.22) 170 (6.69) 16 Rev. -, October 2011

17 Ruggedized Motion Controller Overview The Ruggedized Motion Controller (MSC-R) is a freely programmable motion controller designed for harsh environments. It is suitable for use with both electric and hydraulic motion control. The Ruggedized Motion Controller has the same computing power as the MSC II Motion Controller but can be mounted directly at the machine without the need for an additional electronic cabinet. The innovative combination of ruggedized design, computing power and fieldbus support (CAN, Ethernet, EtherCAT, Profibus-DP) makes the Ruggedized Motion Controller an excellent choice for high performance embedded control solutions. Interfaces LocalCAN - transmission activity LocalCAN Activated by application or error display LAN - transmission activity LAN L1+ and +5 V ok Power supply EtherCAT - transmission activity EtherCAT Fieldbus - transmission activity USB Fieldbus interface State of digital I/Os Digital I/O Fieldbus - transmission activity Fieldbus interface Rev. -, October

18 Ruggedized Motion Controller Technical data Ordering number D D D D Integrated interfaces Ethernet USB EtherCAT master EtherCAT slave 1 CAN/CANopen Profibus-DP slave 1 1 Processor Type PowerPC Processor, 32 Bit, RISC architecture with floating point unit RAM 128 MB Flash EEPROM 32 MB Data maintenance Typically 10 years General technical data Connection technique M12 connectors Mounting Hard anodized aluminum housing, mounting on a backing plate Dimensions W x D x H 161 x 105 x 57.7 mm (6.34 x 4.13 x 2.27 in) Operating temperature range -40 to +70 C (-40 to +158 F) Storage temperature range -40 to +80 C (-13 to +176 F) Relative air humidity >10 % Maximum operation height 2,000 m (6,500 ft) Maximum storage height 3,000 m (9,800 ft) Maximum transport height 3,000 m (9,800 ft) Protection class III Degree of protection IP67 (with mounted connectors/cover caps) Shock resistance 50 g, 6 directions, 3 ms Vibration resistance 30 g, 3 axes, 10 Hz to 2kHz, 10 sweeps Standards Operating equipment demands and IEC examinations Interference emission EN Interference immunity EN , industrial part Shock resistance IEC Vibration resistance IEC Insulation strength IEC , test voltage 500 V DC 18 Rev. -, October 2011

19 Ruggedized Motion Controller Ordering number D D D D Power supply Voltage supply of module electronics 24 V DC (18 to 36 V), SELV according to EN Current consumption of module electronics Idling 0.3 A Full load 0.8 A Internal voltages Generated via internal DC/DC converters Behavior at voltage features/cut-off of supply voltage Interfaces Ethernet CAN Necessary data is permanently stored. If the supply voltage fails (<18 V), buffer capacitors provide the necessary energy. 10/100 MBit/s with 8-pole RJ45 connector (100Base-T) Transmission rate adjustable from 10 kbit/s to 1 MBit/s, 24 V proof, non-isolated. LocalCAN: M12 connector on the front cover. EtherCAT master 100 MBit/s EtherCAT slave 100 MBit/s Profibus-DP slave 12 MBit/s 12 MBit/s, USB USB 1.1 host, USB-A connectors Digital inputs/outputs Type of digital inputs Type 1 (current consuming) according to IEC Number of digital inputs/outputs 2 Configuration Individually configurable as input or output in the MACS software Voltage supply 24 V DC (18 to 36 V), SELV according to EN Maximum current consumption of single 0.5 A output Current consumption all digital outputs active Protection Sustained short-circuit Thermal overload Diagnostics Watchdog output: Outputs enabled signal <4 A (L2 fuse) Yes Yes Digital outputs in operation. In the event of a fault, the watchdog output goes to a high impedance state. Rev. -, October

20 Ruggedized Motion Controller Circuit diagrams - inputs/outputs Digital input Digital output Signal source MSC-R MSC-R L 2+ L V DC 24 V DC I/O x Opto- Decoupling to evaluation I/O x, Out EN R L M 2 M 2 Dimensional drawing [mm (in)] 161 (6.34) 57.7 (2.27) 150 (5.90) 47.1 (1.85) 5.5 (0.22) 105 (4.13) 20 Rev. -, October 2011

21 MSD Motion Controller Overview The MSD Motion Controller is based on a 32-bit microprocessor. The MSD Motion Controller coordinates and synchronizes axes, and communicates with host computers and other PLCs via multiple fieldbus protocols. With its PLC functionality, the MSD can control processes of the machine. It is designed for closed-loop control of velocity and position for up to 30 axes. Additionally, it is able to control input and visualization devices. It supports various communication protocols such as EtherCAT, CANopen and Profibus-DP to any host controller. The MSD Motion Controller includes 2 EtherCAT master interfaces for fast real time communication with the Servo Drives. Based on the IEC development standard, Moog Axis Control Software, with specialized motion libraries is provided to program the MSD Motion Controller. Interfaces +24 volt License key Run/Stop/ Reset switch Option-Fieldbus card CAN bus USB 1.1 host connection for data up and download via USB stick Ethernet (TCP/IP) programming interface, display, LAN,... Control terminals 2 x EtherCAT Master Rev. -, October

22 MSD Motion Controller Technical data Ordering number G G G G Integrated interfaces Ethernet USB EtherCAT master CAN Optional interfaces EtherCAT slave 1 CAN 1 Profibus-DP slave 1 Processor Type PowerPC Processor, 32 Bit, RISC architecture with floating point unit RAM 128 MB Flash EEPROM 32 MB Data maintenance Typically 10 years General technical data Connection technique Plug-in terminal strips Mounting On a backing plate Dimensions W x D x H 58.5 x 355 x 224 mm (2.30 x x 8.81 in) Operating temperature range +5 to +55 C (+41 to +131 F) Storage temperature range -25 to +70 C (-13 to +158 F) Maximum mean temperature in +50 C (+122 F) operation for 24 hours Relative air humidity 10 to 95 % (non-condensing) Maximum operation height 2,000 m (6,500 ft) Maximum storage height 3,000 m (9,800 ft) Maximum transport height 3,000 m (9,800 ft) Protection class III Degree of protection IP20 Standards Operating equipment demands and IEC examinations Interference emission EN Interference immunity EN , industrial part Shock resistance IEC Vibration resistance IEC Insulation strength IEC , test voltage 500 V DC 22 Rev. -, October 2011

23 MSD Motion Controller Ordering number G G G G Power supply Voltage supply of module electronics 24 V DC (18 to 36 V), SELV according to EN Current consumption of module electronics Idling 0.3 A Full load 0.8 A Potential separation Separate potentials for: Module electronics 24-V supply Digital inputs/outputs Ethernet Internal voltages Generated via internal DC/DC converters Behavior at voltage features/cut-off of supply voltage Interfaces Ethernet CAN Necessary data is permanently stored. If the supply voltage fails (<18 V), buffer capacitors provide the necessary energy. 10/100 MBit/s with 8-pole RJ45 connector (100Base-T) Connectors on the front cover, connected internally 1:1. Transmission rate adjustable from 10 kbit/s to 1 MBit/s. EtherCAT master 100 MBit/s EtherCAT slave 100 MBit/s Profibus-DP slave 12 MBit/s USB USB 1.1 host, USB-A connectors Digital inputs/outputs Type of digital inputs Type 2 (current consuming) according to IEC Number of digital inputs/outputs 4 Configuration Individually configurable as input or output in the MACS software Voltage supply 24 V DC (18 to 36 V), SELV according to EN Maximum current consumption of single 0.5 A output Protection Sustained short-circuit Thermal overload Diagnostics Watchdog output: Outputs enabled signal Yes Yes Digital outputs in operation. In the event of a fault, the watchdog output goes to a high impedance state. Rev. -, October

24 MSD Motion Controller Circuit diagrams - inputs/outputs Digital input Digital output Signal source MSD MSD L 2+ L V DC 24 V DC I/O x Opto- Decoupling To evaluation I/O x, Out EN R L M 2 M 2 Dimensional drawing [mm (in)] 355 (13.97) 295 (11.61) 38.5 (1.51) (13.56) 58.5 (2.30) 224 (8.81) 4.8 (0.19) (1.15) 24 Rev. -, October 2011

25 Overview Extension Modules FOR MSC I AND MSC II QAIO 2/2 analog module 2 analog inputs 2 analog outputs Voltage and current range configurable 16 Bit resolution See page 26 QAIO 16/4 analog module 16 analog inputs 4 analog outputs 12 Bit resolution See page 29 QDIO 16/16 digital module 16 digital inputs 16 digital I/O, each configurable as input or output See page 32 QEBUS-CAN module Connection to second CAN controller See page 35 RDIO 16/16 digital module Remote module to connect a Motion Controller via CANopen interface. 16 digital inputs 16 digital I/O, each configurable as input or output See page 38 Rev. -, October

26 QAIO 2/2 Analog Module Overview The QAIO 2/2 analog module is used for local extension of the inputs and outputs (I/O) of the MSC I or MSC II Motion Controller. The module is mounted on a DIN rail and directly connected to an MSC I or MSC II Motion Controller via the internal Extension bus (E-Bus). The QAIO 2/2 has the following inputs and outputs: 2 analog inputs, each configurable in the Moog Axis Control Software (MACS) development environment as ±10 V, ±10 ma or 4 to 20 ma. The inputs are converted in multiplex operation 1 reference voltage output: The reference voltage source provides a short circuit protected voltage of +10 V 2 analog outputs, each ±10 V, additionally individually configurable in the MACS software as ±10 ma, ±50 ma or 4 to20 ma with wire fault monitoring 1 pulse input 24 V useable as counter input or frequency measurement input On the front, 4 LEDs provide information about the status of important module functions. The configuration of the analog I/O is carried out per software via the central control configuration in the MACS development environment. Either the two analog inputs or the pulse input can be used. The I/O of the analog extension module is actuated directly from an MSC I or MSC II Motion Controller via the E-Bus. All input- and output-data is transferred within one cycle of the E-Bus. One MSC I or MSC II Motion Controller can be extended with a maximum of 7 QAIO 2/2-AV modules. It is not possible to combine it with QAIO 16/4 on one E-Bus segment. Technical data Designation Ordering number Connection to MSC I/MSC II Motion Controller General technical data Connection technique Mounting Dimensions W x D x H Attachment dimensions Operating temperature range Storage temperature range Maximum mean temperature in operation for 24 hours: Relative air humidity Maximum operation height Maxmimum storage height Maximum transport height Protection class Degree of protection QAIO 2/2-AV D Via E-Bus (10 MHz) Plug-in terminal strips for screwing or clamping NS 35/7.5 mounting rail according to EN (DIN rail) 124 x 170 x 85.5 mm (4.88 x 6.69 x 3.36 in) W = 113/118.5 mm (4.45/4.66 in) +5 to +55 C (+41 to +131 F) -25 to +70 C (-13 to 158 F) +50 C (+122 F) 10 to 95 % (non-condensing) 2,000 m (6,500 ft) 3,000 m (9,800 ft) 3,000 m (9,800 ft) III IP20 26 Rev. -, October 2011

27 QAIO 2/2 Analog Module Designation QAIO 2/2-AV Standards Operating equipment demands and examinations IEC Interference emission EN Interference immunity EN , industrial part Shock resistance IEC Vibration resistance IEC Insulation strength IEC , test voltage 500 V DC Power supply Voltage supply of module electronics 24 V DC (18 to 36 V), SELV according to EN Maximum current consumption of module electronics 0.25 ma Potential separation Separate potentials for: Module electronics 24-V supply Pulse input Internal voltages Generated via internal DC/DC converters Protection against reverse polarity Yes Analog inputs Type Each analog input is configurable in the MACS software as ±10 V, ±10 ma or 4 to 20 ma. Number 2 Resolution 16 Bit Overvoltage protection Up to ±36 V Analog outputs Type Voltage output ±10 V. Each analog output additionally configurable in the MACS software as ±10 ma, ±50 ma or 4 to 20 ma. Number 2 Resolution 16 Bit Short-circuit protection Yes Overvoltage protection Up to ±36 V Maximum output current of voltage output 10 ma Reference voltage outputs Reference output voltage +10 V Maximum current 5 ma Short-circuit protection Yes Overvoltage protection Up to ±36 V Pulse input 24 V digital input Can be used as input according to IEC type 1; positive switching (input OE) or ground switching (input OC) Rev. -, October

28 QAIO 2/2 Analog Module Circuit diagrams - inputs/outputs Analog input Analog output QAIO 2/2 QAIO 2/2 A ix+ C xa C xb D A ±10 V A oxa Voltage R L Voltage A ix- A GND Filter MUX A D ±10 ma A GND A oxb Current A ix+ 4 to 20 ma A GND R L C xa C xb ±50 ma Current A ix- Filter A GND Output Current Monitoring Pulse input - positive switching QAIO 2/2 Signal source L 2+ Pulse input - ground switching Signal source L 2+ QAIO 2/2 24 V DC OE Opto- Decoupling To evaluation 24 V DC OC Opto- Decoupling To evaluation M 2 M 2 Dimensional drawing [mm (in)] 124 (4.88) 85.5 (3.36) 113 (4.45) 5.5 (0.22) 170 (6.69) 28 Rev. -, October 2011

29 QAIO 16/4 Analog Module Overview The QAIO 16/4 analog module is used for local extension of the inputs and outputs (I/O) of the MSC I or MSC II Motion Controller. The module is mounted on a DIN rail and directly connected to an MSC I or MSC II Motion Controller via the internal extension bus (E-Bus). The QAIO 16/4 has the following inputs and outputs: 16 voltage or current inputs: The input channels are converted in multiplex operation. The measurement range is ±10 V (QAIO 16/4-V) or ±20 ma (QAIO 16/4-A) 1 reference voltage output: The reference voltage source provides a short circuit protected voltage of +10 V 4 voltage outputs: The output channels provide a voltage signal in the range of ±10 V. The maximum output current is 5 ma (overload protection) The configuration of the analog I/O is carried out per software via the central control configuration in the Moog Axis Control Software (MACS) development environment. On the front, 4 LEDs provide information about the status of important module functions The I/O of the analog extension module is actuated directly from an MSC I or MSC II Motion Controller via the extension bus (E-Bus). It is not possible to combine it with a QAIO 2/2 on one E-Bus segment. Technical data Designation QAIO 16/4-A QAIO 16/4-V Ordering number D D Connection to MSC I/MSC II Motion Controller Via E-Bus (5 MHz) General technical data Connection technique Plug-in terminal strips for screwing or clamping Mounting NS 35/7.5 mounting rail according to EN (DIN rail) Dimensions W x D x H 124 x 170 x 85.5 mm (4.88 x 6.69 x 3.36 in) Attachment dimensions W = 113/118.5 mm (4.45/4.66 in) Operating temperature range +5 to +50 C (+41 to +122 F) Storage temperature range -25 to +70 C (-13 to 158 F) Relative air humidity 10 to 95 % (non-condensing) Maximum operation height 2,000 m (6,500 ft) Maximum storage height 3,000 m (9,800 ft) Maximum transport height 3,000 m (9,800 ft) Protection class III Degree of protection IP20 Rev. -, October

30 QAIO 16/4 Analog Module Designation QAIO 16/4-A QAIO 16/4-V Standards Operating equipment demands and examinations IEC Interference emission EN Interference immunity EN , industrial part Shock resistance IEC Vibration resistance IEC Insulation strength IEC , test voltage 500 V DC Power supply Voltage supply of module electronics 24 V DC (18 to 36 V), SELV according to EN Maximum current consumption of module electronics Potential separation Internal voltages Protection against reverse polarity 0.3 ma Yes, opto-decoupled towards E-Bus. No separation between power supply and analog channels. Generated via internal DC/DC converters Yes Analog inputs Type ±20 ma ±10 V Number 16 Resolution 12 Bit (multiplex operation) Overvoltage/current protection Up to 50 ma Up to ±36 V Analog outputs Type Voltage output ±10 V Number 4 Resolution Short-circuit protection Overvoltage protection Maximum output current of voltage output 12 Bit Yes Up to ±36 V 5 ma Reference voltage outputs Reference output voltage Maximum current Short-circuit protection Overvoltage protection +10 V DC 5 ma Yes Up to ±36 V 30 Rev. -, October 2011

31 QAIO 16/4 Analog Module Circuit diagrams - inputs/outputs Analog input Analog output QAIO 16/4 +15 V +15 V QAIO 16/4 I N+ 10 M D A OUT A GND -15 V +15 V MUX SENSE R L I N 50 kw A GND Shield 10 M -15 V -15 V MUX Shield Dimensional drawing [mm (in)] 85.5 (3.36) 113 (4.45) 5.5 (0.22) 124 (4.88) 170 (6.69) Rev. -, October

32 QDIO 16/16 Digital Module Overview The QDIO 16/16 digital module is used for extension of the local inputs and outputs (I/O) of the MSC I or MSC II Motion Controller. The module is mounted on a DIN rail and directly connected to an MSC I or MSC II Motion Controller, or a remote digital I/O module (RDIO) via the internal Extension bus (E-Bus). The configuration of the digital I/O is carried out per software via the central control configuration in the Moog Axis Control Software development environment. LEDs on the front provide information about the status of the I/O. The arrangement of the LEDs corresponds to the I/O connections. The I/O of the digital extension module are actuated directly from an MSC I, MSC II Motion Controller or RDIO via the E-Bus. A MSC I or MSC II Motion Controller can be extended with a maximum of 7 modules (e.g. QDIO or QAIO). Further digital I/O can be actuated via RDIO modules, which are connected with an MSC I or MSC II Motion Controller via CANopen. Technical data Designation QDIO 16/ QDIO 16/16-0.5N Ordering number D D Connection to MSC I / MSC II Via E-Bus (10 MHz) General technical data Connection technique Plug-in terminal strips for screwing or clamping Connecting of the I/O 3-conductor front wiring Mounting NS 35/7.5 mounting rail according to EN (DIN rail) Dimensions W x D x H 124 x 170 x 85.5 mm (4.88 x 6.69 x 3.36 in) Attachment dimensions W = 113/118.5 mm (4.45/4.66 in) Operating temperature range +5 to +50 C (+41 to +122 F) Storage temperature range -25 to +70 C (-13 to +158 F) Relative air humidity 10 to 95 % (non-condensing) Maximum operation height 2,000 m (6,500 ft) Maxmimum storage height 3,000 m (9,800 ft) Maximum transport height 3,000 m (9,800 ft) Protection class III Degree of protection IP20 32 Rev. -, October 2011

33 QDIO 16/16 Digital Module Designation QDIO 16/ QDIO 16/16-0.5N Standards Operating equipment demands and examinations IEC Interference emission EN Interference immunity EN , industrial part Shock resistance IEC Vibration resistance IEC Insulation strength IEC , test voltage 500 V DC Power supply Voltage supply of module electronics 24 V DC (18 to 36 V), SELV according to EN Maximum current consumption of module electronics 0.15 A Potential separation Yes, between E-Bus and digital I/O Protection against reverse polarity Yes Digital inputs/outputs Type Plus switching Zero switching Number 16 digital inputs 16 I/O, each useable as input and output Voltage supply 24V DC (SELV), divided into 6 I/O groups Maximum output current 0.5 A Short-circuit protection Yes Reverse polarity protection Yes, all digital outputs Rev. -, October

34 QDIO 16/16 Digital Module Circuit diagrams - inputs/outputs Digital input - plus switching Digital input - zero switching +24 V L+ QDIO 16/ V L+ QDIO 16/16 I N I N M internal GND M M M internal GND M Digital output - plus switching Digital output - zero switching QDIO 16/16 L+ +24 V QDIO 16/16 L+ +24 V OUT (IN) OUT (IN) M internal M GND M GND L+ M internal M Dimensional drawing [mm (in)] 85.5 (3.36) 113 (4.45) 5.5 (0.22) 124 (4.88) 170 (6.69) 34 Rev. -, October 2011

35 QEBUS-CAN Module Functionality The QEBUS-CAN module is designed for using the LocalCAN bus for external CAN bus nodes. The LocalCAN bus is integrated in the Extension bus (E-Bus) plug and is accessed via the QEBUS-CAN module by means of two D-Sub mating connectors. Furthermore, the QEBUS-CAN module offers the option of using a jumper to connect/disconnect a CAN termination resistor. The module is mounted onto a DIN rail and is directly attached to a MSC I or MSC II Motion Controller or an extension module via the connector at the side of the module. The QEBUS-CAN module does not count as an E-Bus node, it can be used in addition to the maximum number of E-Bus modules The module can be placed either at the far left or far right in an E-Bus segment The module has a smaller width than the QDIO, QAIO and RDIO modules The module does not need to be configured The E-Bus does not pass through the module Both D-Sub mating connectors are identically wired The CAN bus can be connected to a power supply via X1 Rev. -, October

36 QEBUS-CAN Module Technical data Designation Ordering number Connection to MSC I / MSC II General technical data Connection technique QEBUS-CAN D Via Q-connector Optional CAN power supply: plug-in terminal strip for screwing or clamping. CAN bus: 2 x D-Sub connector NS 35/7.5 mounting rail according to EN (DIN rail) 65 x 170 x 85.5 mm (2.56 x 6.69 x 3.36 in) W = 59.5 mm (2.34 in) +5 to +55 C (+41 to +131 F) -25 to +70 C (-13 to +158 F) 10 to 95 % (non-condensing) 2,000 m (6,500 ft) 3,000 m (9,800 ft) 3,000 m (9,800 ft) III IP20 Mounting Dimensions W x D x H Attachment dimensions Operating temperature range Storage temperature range Relative air humidity Maximum operation height Maximum storage height Maximum transport height Protection class Degree of protection Standards Operating equipment demands and examinations IEC Interference emission EN Interference immunity EN , industrial part Shock resistance IEC Vibration resistance IEC Insulation strength IEC , test voltage 500 V DC Power supply Voltage supply of module electronics None (passive module) Interfaces LocalCAN Q-connector 2 x D-Sub, connected 1:1 internallly. 120 Ω termination resistor, can be switch on/off with jumper. Contains the LocalCAN of the MSC I or MSC II. The E-Bus is not passed through the module. 36 Rev. -, October 2011

37 QEBUS-CAN Module Pin assignments CAN supply X1 1 2 X1 CAN supply Pin Assignment Connection 1 CAN_V+ CAN supply 2 DGND Digital ground X2/X3 Local CAN bus J1 J2 Pin Assignment Connection 1 2 CAN-L CAN 3 DGND Digital ground Local CAN X2 X3 Local CAN J3 7 CAN-H CAN+ 8 ON/OFF terminator 9 CAN_V+ CAN bus supply Dimensional drawing [mm (in)] 65 (2.56) 54 (2.12) 85.5 (3.36) 5.5 (0.22) 170 (6.69) Rev. -, October

38 RDIO 16/16 Digital module Overview The RDIO digital module is used as a remote extension of the local inputs and outputs (I/O) of a MSC I or MSC II Motion Controller. The module is mounted on a DIN rail and connected to the Motion Controller via CAN. Digital I/O extension module 16 digital inputs 24 V 16 digital I/O 24 V, individually configurable as an input or an output CANopen slave complying with CiA DS 401 The Moog Axis Control Software (MACS) includes a library with function blocks to interface the RDIO via CANopen. This ensures simple integration into Moog Motion Controller applications. LEDs on the front provide information about the status of each I/O. The arrangement of the LEDs corresponds to the I/O connections. The I/Os are accessed via CANopen interface. The I/ Os of the QDIO modules are also accessed via CANopen interface of the RDIO. No modules shall be connected to the left Extension bus (E-Bus) connector of the module The CAN interface is only accessible via the CAN connectors on the front cover Up to 6 QDIO modules can be connected to the right E-Bus connector of the module Several RDIOs can be connected via CAN connector Interfaces Status of digital I/Os Status LEDs CAN interface Serial interface SIO Status of digital I/Os 38 Rev. -, October 2011

39 RDIO 16/16 Digital module Technical data Designation RDIO 16/ Ordering number D Connection to Moog Motion Controller CANopen to a Motion Controller E-Bus to connect up to 6 QDIO modules Interfaces CAN General technical data Connection technique Plug-in terminal strips for screwing or clamping Connecting of the I/O 3-conductor front wiring Mounting NS 35/7.5 mounting rail according to EN (DIN rail) Dimensions W x D x H 124 x 170 x 85.5 mm (4.88 x 6.69 x 3.36 in) Attachment dimensions W = 113/118.5 mm (4.45/4.66 in) Operating temperature range +5 to +50 C (+41 to +122 F) Storage temperature range -25 to +70 C (-13 to +158 F) Relative air humidity 10 to 95 % (non-condensing) Maximum operation height 2,000 m (6,500 ft) Maxmimum storage height 3,000 m (9,800 ft) Maximum transport height 3,000 m (9,800 ft) Protection class III Degree of protection IP20 Standards Operating equipment demands and examinations IEC Interference emission EN Interference immunity EN , industrial part Shock resistance IEC Vibration resistance IEC Insulation strength IEC , test voltage 500 V DC Power supply Voltage supply of module electronics 24 V DC (18 to 36 V), SELV according to EN Maximum current consumption of module electronics 0.15 A Potential separation Yes, between CAN and digital I/O Protection against reverse polarity Yes Digital inputs/outputs Type Plus switching Number 16 digital inputs 16 I/O, each useable as input and output Voltage supply 24V DC (SELV), divided into 6 I/O groups Maximum output current 0.5 A Short-circuit protection Yes Reverse polarity protection Yes, all digital outputs Rev. -, October

40 RDIO 16/16 Digital module Circuit diagrams - inputs/outputs Digital input - plus switching Digital output - plus switching +24 V L+ RDIO 16/16 RDIO 16/16 L+ +24 V I N OUT (IN) M internal M GND GND M M M internal M internal M Dimensional drawing [mm (in)] 85.5 (3.36) 113 (4.45) 5.5 (0.22) 124 (4.88) 170 (6.69) 40 Rev. -, October 2011

41 Displays RDISP 22 Operator Panel Operator Panel for supervision and control of machines and processes. See page 42. Dialog Controller Freely programmable Dialog Controller to create visualization screens available in 3 sizes with 5.7, 10.4 or See page 44. Rev. -, October

42 RDISP 22 Operator Panel Overview The RDISP 22 Operator Panel is designed for supervision and control of machines and processes. Its main advantage is the easy and fast creation of visualization screens with text and graphical elements as well as visualization structures. LCD display for text and graphics with 240 x 64 points and LED background lighting 8 function keys and 8 LEDs for signal display Numeric keypad for value input 22 keys The LCD display with graphics capabilities permits optimum graphical display of your visualization solution. Up to 8 x 40, 4 x 20, 2 x 10 characters per page and any combination of these, pictograms and graphical display images in BMP format can be displayed. Contrast and brightness can be adjusted via the program or keys. The keys are built as push buttons. They are covered by a robust foil to withstand high push forces. RDISP 22 has interfaces for CAN, CANopen, EIA-232. The RDISP 22 offers the display types 'images' and 'messages'. They can be activated independently. Images are graphical elements (pictograms, BMP files), in which text and variables are displayed both numerically and graphically or as bar charts or as X/Y charts. A visual menu structure can be defined by the programmer. An image can be selected by an image number or via a menu structure by using keys. Messages can be inserted into a page as well as text with variables. Messages are activated by using the message number. Parameters, images and messages are stored in the maintenance-free flash memory. The Moog Axis Control Software (MACS) includes a library with function blocks to interface the RDISP via CANopen. This ensures simple integration into the Moog Motion Controller applications. The function keys can be labeled freely. This is done by using strips of paper and inserting them between the keys and the front cover. Programming is carried out on the PC via an user-friendly editor. Programming of menus, menu structures, message texts and multi-language display is easy to achieve with the CPRDISP PC editor. Technical data Designation RDISP 22 Ordering number D General Technical Data Housing Integrated case Dimensions W x D x H (front with plug) 196 x 129 x 53 mm (7.72 x 5.08 x 2.09 in) Mounting dimensions W x D 187 x 120 mm (7.36/4.72 in) Operating temperature range -10 to +60 C (+14 to +140 F) Relative air humidity 10 to 95 % (non-condensing) Protection class III Degree of protection IP65 front side, IP20 rear side Weight 1.4 kg (3.08 lbs) 42 Rev. -, October 2011

43 RDISP 22 Operator Panel Designation RDISP 22 Standards Interference emission EN Interference immunity EN , industrial part Shock resistance IEC Vibration resistance IEC Power supply Voltage supply of module electronics 24 V DC (17 to 36 V DC ), SELV with reverse voltage protection Current consumption at 24V DC 0.5 A, depending on display brightness Fuse Electronic fuse with automatic reset Connection to power supply 6-pole AMP crimp connector Display Type LCD Superwist 240 x 64 points, LED background lighting Number of characters per line (minimum/maximum) 10/40 Line height 2 lines: 14 mm (0.55 in) 4 lines: 7 mm (0.28 in) 8 lines: 4 mm (0.16 in) Standard character set IBM set 2 and Cyrillic, other character sets possible Keys Type Push buttons Number 22 (including numeric keypad) Key top Aluminum disc behind polyester cover; secured against vandalism Rear Galvanized steel plate with clamping lid Functions Menu structures Tree structure or other structure Contrast and brightness Adjustable, using keys and program Character attributes Flashing, normal, and inverse display Programming With PC and CPRDISP editor Value entry Numeric keyboard Variables Up to 104 per page, number of pages typically > 700, only limited by memory size Memory Flash EEPROM to store texts, images, messages, operating system etc. Interface to PC editor (CPRDISP) CAN or EIA-232, EIA-232 recommended Interface to controller (e.g. MSC I, MSC II) CAN or EIA-232, CANopen recommended Interfaces CAN Galvanic insulation, termination switchable with DIP switch, 9-pin D-Sub connector EIA-232 D-Sub connector Rev. -, October

44 Dialog Controller Overview The Dialog Controller is a freely programmable, real-time controller with the Moog Axis Control Software (MACS) development environment. The Dialog Controller is available in 3 sizes with 5.7, 10.4 or 12.1 color TFT touch screens for brilliant colors. With IP65 protection at the front (IP20 at the rear), the Dialog Controller is designed for harsh industrial environments. It is equipped with interfaces for USB, Ethernet, CAN bus, EIA-232 and EIA-485. Data can be stored on MMC/SD memory cards. The user can define and examine device and communication parameters as well as device states. It offers diagnostics functions which support service and commissioning tasks. The predefined elements such as buttons, bar graphs, meters, tables and histograms make it easy to create visualization screens. Programmable with MACS/CoDeSys, no additional editor tool required TFT technology for brilliant colors Fanless operation Communication to via Ethernet 44 Rev. -, October 2011

45 Dialog Controller Technical data Designation Dialog Controller Size Ordering number D D D General technical data Dimensions W x D x H 194 x 172 x 52 mm (7.6 x 6.8 x 2.0 in) 360 x 260 x 77 mm (14.2 x 10.2 x 3.0 in) 440 x 300 x 77 mm (17.3 x 11.8 x 3.0 in) Operating temperature range 0 to +50 C (+32 to +112 F), fanless technology Storage temperature range -20 to +70 C (-4 to +158 F) Transport temperature range -20 to +70 C (-4 to +158 F) Maximum operation height 2,000 m (6,500 ft) Maximum storage height 3,000 m (9,800 ft) Maximum transport height 3,000 m (9,800 ft) Maximum relative air humidity 85 % (non-condensing) 90 % (non-condensing) Protection class III Degree of protection IP65 front side, IP20 rear side Weight (approximately) 1.5 kg (3.3 lbs) 5 kg (11 lbs) 6 kg (13.2 lbs) Standards Interference emission EN Interference immunity EN , industrial part Shock resistance IEC Vibration resistance IEC Insulation strength IEC ; test voltage 500 V DC Power supply Voltage supply of module 24 V DC (-15/+20 %), SELV according to EN electronics Current consumption (typical/ 1 A/2 A maximum Display Type TFT touch screen display Resolution 320 x 240 pixels 640 x 480 pixels 800 x 600 pixels Processor PowerPC Processor, 32 Bit, RISC architecture with floating point unit RAM 128 MB (96 MB for application) Flash memory 32 MB (24 MB for application) Retain memory 16 kb Real-time clock Yes, battery-buffered Development environment MACS / CoDesSys 2.3 Runtime software CoDeSys 2.3 with target visualization, real-time operating system with multitasking Interfaces Ethernet 100Base-T, 10/100 MBit/s, 8-pole RJ45 connection (recommended as interface to ) USB 2 x USB host 1.1 (1 x on front, 1 x on rear) CAN Transmission rate adjustable between 10 kbit/s and 1 MBit/s Serial port 2 x EIA-232, 1 x EIA-485 Rev. -, October

46 Moog Axis Control Software General The Moog Axis Control Software (MACS) offers a stateof-the-art development environment for implementing demanding motion control functions using the IEC standard for development. MACS includes tools for: Programming Testing and optimizing Debugging Documentation Visualization Configuration Features Extensive libraries with Moog function blocks, based on 50 years of experience in electric and hydraulic motion control Freely programmable controller structures Maximum flexibility by offering a complete scope of functions in all IEC programming languages Simultaneous realization of control, regulation and PLC applications in one application program Open standard interfaces for communication on machine and process levels Motion control functions corresponding to PLCopen standard Standard IEC Moog Know-how MACS Interfaces Process guidance level: OPC server DDE interface Machine level: Benefits Quick project realization Low programming efforts One tool for programming, visualizing and documentation CAN CANopen Ethernet TCP/IP Profibus DP EIA-232 EtherCAT 46 Rev. -, October 2011

47 Moog Axis Control Software Programming languages All IEC programming languages and CFC (Continuous Function Chart) Full scope of functionality in all programming languages, provides maximum flexibility in creation of user programs Each module can sequence other modules regardless of their programming language Editors Context-sensitive input help Automatic formatting Context menus in all editors Syntax coloring Multi-level undo/redo Display of the current values of all variables in online operation Continuous Function Chart (CFC) Function Block Diagram (FBD) Structured Text (ST) Sequence Function Chart (SFC) Ladder Diagram (LD) Instruction List (IL) Rev. -, October

48 Moog Axis Control Software Functionality of MACS MACS is based on CoDeSys which is the standard for IEC programming. It has been enhanced by Moog by adding motion control functionality. In this way, even complex automation projects can be simplified. MACS includes the following functionality: Functionality included with license key Motion control technology Function block library including: Controller: I, D, PID standard/extended Filter: High-pass, low-pass Non-linear functions: Dead band, nonlinear, dual-gain, look-up table Simulation of the process: PT1, PT2 Function generator Signal delay Counter Timer Transfer functions: Continuous, time discrete Matlab/Simulink integration: Execution of Matlab/Simulink models inside the IEC application program Generating motion profiles PLCopen function blocks according to the specification Function Blocks for Motion Control for single and multi-axis applications: Absolute and relative position Velocity functions Homing Moog Motion Control Function Blocks: Function blocks similar to PLCopen function blocks but with additional Time parameter to allow smoother movements if the required movement can be executed in the given time without reaching the limits of acceleration/ decelerations and velocity. Soft motion Cam functions with graphical editor to create movement profiles Gearing functions Communication Graphical configurator for: Profibus-DP slave EtherCAT master EtherCAT slave CANopen master CANopen slave Controls Motion Professional x x x x x x Library management Functionality included with license key Function block library for initialization and data exchange: CAN EIA-232 Ethernet (TCP/IP and UDP/IP) Network variables OPC interface DDE interface Hardware Function block library Signal conditioning for analog inputs/ outputs and position sensors Diagnostics wire fault, power fault etc. Time evaluation Monitoring of temperature Watchdog Visualization Web based visualization: MACS visualization pages can be displayed on a web browser MACS HMI: Package for installation on a PC for full-screen display of visualization pages Controls Motion Professional x x x x x 48 Rev. -, October 2011

49 Moog Axis Control Software Moduls Visualization Commissioning tool Creation of visualizations for end users Hardware configuration Configuration of all modules on one screen Oscilloscope Recording of up to 20 channels Various triggering possibilities Documentation Automatic creation of the project documentation with all components Debugging Break points Single step/single cycle Writing and forcing of variables Simulation possible without hardware Display of all the current values Task configuration Enables division of the application program into a number of tasks Schedule tasks optionally time-based (cyclic) or event-triggered Priority and time base of each task adjustable Rev. -, October

50 License Keys The license keys contain the runtime license for the Moog Axis Control Software (MACS). According to the license key used, assigned functionality of MACS is enabled for usage. The license keys contain: IP address Profibus-DP station address CANopen node ID Designation Color Functions Ordering number Controls Gray MACS runtime license with basic functionality including: D CoDeSys operators and standard IEC library Ethernet communication to MACS development environment Hardware libraries Control technology library PID axis control Interface library for EIA-232 and CAN bus Interface library for EtherCAT master Basic TCP/IP communication library Support for OPC and DDE interfaces Basic remote diagnostic functions Motion Green All functions of Controls license key included and the following: D Motion control library according to PLCopen Motion control function blocks Advanced fieldbus interface like CANopen, Profibus-DP, EtherCAT slave, other fieldbuses on request Transfer function library (Z functions) Matlab/Simulink model execution Web visualization Advanced remote diagnostic functions Professional Blue All functions of Motion license key included and the following: 3D Soft Motion: Caming and Gearing D System Red Program parts and/or complete application programs, produced specifically upon customer request Specific to the order 50 Rev. -, October 2011

51 Background Application examples Background We have provided some typical examples of how Motion Controllers can be used in conjunction with hardware and communication interfaces to effectively achieve specific objectives for machine performance. Applications with MSC I and MSC II Motion Controllers Up to 7 additional I/O or communication modules can be connected to the right Extension bus (E-Bus) of the MSC I or MSC II Motion Controller. The modules are put together and locked on the DIN rail. In this way, further analog and/ or digital I/O modules can be added as required. Analog modules are placed next to the Motion Controller. The control and signal processing is executed by an MSC I or MSC II Motion Controller. The extension modules connected via E-Bus do not require their own intelligence. Analog I/O modules The QAIO modules are analog I/O modules and are used to extend a MSC I or a MSC II Motion Controller via the E-Bus. Two different analog modules QAIO 2/2 and QAIO 16/4 are available. They cannot be combined on the same E-Bus segment. The QAIO modules cannot be connected to a RDIO module. Digital I/O modules The QDIO 16/16 module is a digital I/O module and is used to extend MSC I, MSC II Motion Controller and RDIO 16/16 module via the E-Bus. RDIO 16/16 module The RDIO 16/16 digital module is used as a remote extension of the local inputs and outputs of a MSC I or MSC II Motion Controller. The CAN interface is only accessible via the CAN connectors on the front cover. Up to 6 QDIO modules can be connected to the right E-Bus connector of the RDIO 16/16 module. QAIO modules cannot be connected to a RDIO 16/16 modules. No modules shall be connected to the left E-Bus connector of the RDIO 16/16 module. Several RDIO modules can be connected via the CAN connector. QEBUS-CAN module The QEBUS-CAN module is designed for using the LocalCAN bus for external CAN bus nodes. The module does not count as an E-Bus node. It can be used in addition to the maximum number of E-Bus modules. The E-Bus does not pass through the module. Therefore, the module can be placed either at the far left or far right in an E-Bus segment. Displays An operator panel of one size and dialog controllers of three different sizes can be used for MSC I and MSC II applications. The RDISP 22 Operator Panel is designed for supervision and control of machines and processes. The Dialog Controller is a freely programmable, real-time controller. Other devices Further components with Ethernet or fieldbus interfaces can be connected with MSC I and MSC II Motion Controller. Moog provides an extensive selection of Servo Drives, Servo Motors, Hydraulic Valves and Radial Piston Pumps. This enables a flexible set-up of industrial machinery solutions. MSC II QAIO 16/4 QAIO 16/4 QDIO 16/16 QDIO 16/16 QEBUS Extension bus Application with a MSC II and several analog and digital I/O modules Rev. -, October

52 Background Application examples MSC II QAIO 2/2 QDIO 16/16 QDIO 16/16 Extension bus WideCAN (alternatively) EtherCAT (alternatively) Servo Valve Application with a MSC I Motion Controller, several digital and analog I/O modules and two Servo Valves MSC II QAIO 2/2 QDIO 16/16 QDIO 16/16 Extension bus WideCAN (alternatively) EtherCAT (alternatively) Servo Valve Application with a MSC II Motion Controller, several digital and analog I/O modules and a Servo Valve 52 Rev. -, October 2011

53 Background Application examples MSC II QAIO 2/2 QEBUS RDIO 16/16 QDIO 16/16 QDIO 16/16 Extension bus EtherCAT LocalCAN MSD Servo Drives Application with two E-Bus segments and two MSD Servo Drives Applications with Ruggedized Motion Controller The Ruggedized Motion Controller has IP67 protection and is designed for harsh industrial environments. It is designed to work in environments that have fluids such as salt water, mineral oil and others. Other components can be connected to the Ruggedized Motion Controller, e.g. Servo Valves. EtherCAT MSC-R Servo Valve Application with Ruggedized Motion Controller and Servo Valve Rev. -, October

54 Background Application examples Applications with MSD Motion Controller The MSD Motion Controller is specially designed for the use with Servo Drives from the Moog MSD Series. For further information about the MSD series refer to the Modular Multi-Axis Programmable Motion Control Servo Drive catalog. EtherCAT EtherCAT To Host Computer MSD Motion Controller MSD Servo Drive Servo Valve Application with PLC, MSD Motion Controller, Servo Drive and Servo Valve Ethernet EtherCAT MSD Motion Controller Dialog Controller MSD Servo Drive Application with MSD Motion Controller, Dialog Controller and Servo Drive 54 Rev. -, October 2011

55 Background About MOOG Background Moog Inc. is a worldwide designer, manufacturer and integrator of precision control components and systems. Moog s Industrial Group designs and manufactures high performance motion control solutions combining electric, hydraulic, and hybrid technologies with expert consultative support in a range of applications including energy production and generation machinery, industrial production machinery and simulation and test equipment. We help performance-driven companies design and develop their next-generation machines. Moog s Industrial Group, with fiscal year 2010 sales of USD 540 million and over 40 locations worldwide, is part of Moog Inc. (NYSE:MOG.A and MOG.B) which has sales of USD 2.1 billion. Moog maintains facilities in 25 countries around the globe. This vast scope ensures that our engineers remain close to the needs of machine builders and provide flexible design solutions and technical expertise tailored to our customers toughest challenges. Moog experts work in close collaboration with machine builders and application engineers to design motion control systems for greater productivity, higher reliability, superior connectivity, less costly maintenance and more effective operations. Our regional presence, industry knowledge and design flexibility ensures Moog motion control solutions are tailored to their environment from meeting operating regulations and performance standards, to taking machine performance to a higher level. Servo Drives Servo Motors Products At the heart of every Moog solution is an array of products engineered for precision, high performance and reliability. For more than five decades, Moog products have been specified for critical machine applications. Some are developed specifically for unique operating environments. Others are standard equipment on machines across many industries. All are continuously improved to take advantage of the latest technology breakthroughs and advancements. Servo Valves Moog products include: Servo Valves and Proportional Valves Servo Motors and Servo Drives Controllers and Software Radial Piston Pumps Actuators Integrated Hydraulic Manifold Systems and Cartridge Valves Slip Rings Motion Bases Radial Piston Pumps Rev. -, October

56 Background About Moog Hydraulic solutions Since Bill Moog invented the first commercially viable Servo Valve in 1951, Moog has set the standard for worldclass hydraulic technology. Today, Moog products are used in a variety of applications - providing high power, enhanced productivity and ever better performance for some of the world s most demanding applications. Electric solutions Clean operation, low noise generation, less maintenance and reduced power consumption make Moog electric solutions ideal for applications worldwide. Moog is the ideal partner for applications where transitioning technologies requires special expertise. Hybrid solutions By incorporating the advantages of existing hydraulic and electric technologies - including modular flexibility, increased efficiency and cleanliness - into innovative hybrid solutions, Moog offers new performance potential in specialized applications. Moog Global Support Moog Global Support is our promise to offer world-class Repair and Maintenance Services delivered expertly by our trained technicians. With the reliability only available from a leading manufacturer with facilities around the world, Moog offers you service and expertise you can count on to keep your equipment operating as it should. This promise offers many benefits to our customers including: Reduce your downtime by keeping critical machines running in peak performance Protect your investment by ensuring reliability, versatility and long-life of products Better plan your maintenance activities and make systematic upgrades Leverage our flexible programs to meet the unique service requirements of your facility Look to Moog for global support including: Repair services using OEM parts are performed by trained technicians to the latest specifications Stock management of spare parts and products to prevent unplanned downtime Flexible programs, tailored to your needs such as upgrades, preventative maintenance and annual/multiyear contracts On-site services bring the expertise to you, providing quicker commissioning, set-up and diagnostics Access to reliable services that are guaranteed to offer consistent quality anywhere in the world For more information on Moog Global Support, visit GLOBAL SUPPORT 56 Rev. -, October 2011